cmake_minimum_required(VERSION 3.8)
project(nav_dwb_controller_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

find_package(builtin_interfaces REQUIRED)
find_package(dwb_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav_2d_utils REQUIRED)
find_package(nav2_core REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)

include_directories(
  include
)
# 定义库名称
set(library_name ${PROJECT_NAME})

add_library(${library_name} SHARED
  src/dwb_local_planner.cpp
  src/publisher.cpp
  src/illegal_trajectory_tracker.cpp
  src/trajectory_utils.cpp
)
set(dependencies
  rclcpp
  std_msgs
  geometry_msgs
  nav_2d_msgs
  dwb_msgs
  nav2_costmap_2d
  pluginlib
  sensor_msgs
  visualization_msgs
  nav_2d_utils
  nav_msgs
  tf2_ros
  nav2_util
  nav2_core
)
ament_target_dependencies(${library_name} ${dependencies})
# 安装库文件到指定目录
install(TARGETS ${library_name}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)
# 安装头文件到指定目录
install(DIRECTORY include/
 DESTINATION include/)


ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})

 
pluginlib_export_plugin_description_file(nav2_core dwb_controller_plugin.xml)

ament_package()
